机器人实验教学平台软件的设计与实现

机器人技术已成为国际学术界关注的一项热点问题。开发机器人实验课程,让研究生接触到国际先进的机器人具有重要意义。现有实验用机器人不具备可操作的人机交互接口,造成实验过程中要编写大量的底层代码,浪费了宝贵的时间。针对此问题,设计并实现了一套移动机器人直接控制实验平台软件,提高了课程时间的利用效率,增强了课程的可扩展性。同时将学生的精力集中在控制算法的开发与实现过程,达到了研究生实验课的培养目的。     

机器人操作手惯性参数的有限元算法

本文概述了有限元网格自动划分方法，并在此基础上提出机器人操作手惯性参数的计算方法，结合实际应用，给出一个算法并介绍了程序的实现，为机器人手臂设计提供了方便。     

机器人柔性装配单元仿真建模的研究

机器人柔性装配单元（ＲＦＡＣ）是柔性装配系统（ＦＡＳ）的重要组成单元，如何协调和控制单元内的各种物流过程一直是单元设计的难点。本文通过分析ＲＦＡＣ的特点，对影响单元运行的物流过程及其相互作用的逻辑关系进行了研究，建立了ＲＦＡＣ的物流仿真模型，并对ＲＦＡＣ的物流评价方法进行了探讨。     

中国足球运动发展行为特征的灰色分析

章利用灰色系统理论对中国足球运动的发展状况和发展能力进行了预测分析，结果显示中国足球发展系统是一个递增系统，但其发展能力较差，说明中国足球运动的健康发展需要中国足协加大改革力度，从本质上改善中国足球运动发展的内部和外部环境．     

A Changing Game: Ethnicity,Gender, and Nation in the US American Soccer Film

Both sport and film play a key role in contemporary US American popular culture. They are widely regarded as legitimate carriers and formative instances of social identities such as ethnicity, gender, or nationality, and they have capitalized upon one another with increasing success. Soccer and soccer films provide a case in point, as both the sport and its treatment in US American feature films are currently undergoing a change from a rather marginal position to a somewhat secure place within the cultural mainstream. This essay analyses five recent American soccer films with a particular focus on how they frame soccer as an ethnic, gendered, and ‘national’ game in a US context.     

奥运会对男足运动员年龄限制问题研究

奥运会提倡的是“公平竞争”、“重在参与”，它是公平、平等、无歧视的象征。奥运会对参加比赛的运动员的资格基本上没有限制，但是却对参加奥运会男子足球比赛运动员进行年龄限制，排除23岁以上男足运动员参赛。做出这样限制规定的理由并非是缘于科学的依据和论证，而仅仅是因为国际足联为了保证世界杯成为全世界的硕级足球赛事，希望对奥运会足球运动员进行参赛资格限制以控制奥运会比赛的水平。根据国际人权法律文件以及奥运会相关文件的规定，这样的限制实质上是对23岁以上男足运动员平等人权的侵害，构成对这一群体的歧视。宣扬公平、平等的奥运会出现对参赛者的不平等对待、对参赛运动员进行歧视对待，这与奥运会的宗旨和精神是背道而驰的，不仅对运动员造成了伤害，也是对奥运会本身的伤害，而且也必将对体育运动领域的其它赛事产生不良的影响。     

Robotic assembly of printed circuit boards with component feeder location consideration

The use of industrial robots for the assembly of printed circuit boards (PCB) is fast gaining popularity. Minimization of the time required for board assembly while maintaining production quality is the process planner's main task. This task involves the specification of the insertion sequence of components in their respective locations and the assignment of component types to feeders or dispensing magazine slots. The time taken by a robot to fetch a component for insertion is dependent on the location of the feeder that holds the component type. Similarly, board assembly lime is dependent on the order of component insertion on the board and the fetch time of components between insertions. In this paper, models to minimize the total assembly time for a board are developed and studied. Factors considered in the analysis of the assembly time are the component assignment to magazine     

机器人焊接图象信息快速处理技术的研究

利用自行研制的图象处理机及图象处理软件对焊接区图象进行快速处理，提取偏差特征参量，控制焊接机器人的末端执行器实现机器人焊接的视觉跟踪。     

Soccer matches as experiments: how often does the ‘best’ team win?

Models in which the number of goals scored by a team in a soccer match follow a Poisson distribution, or a closely related one, have been widely discussed. We here consider a soccer match as an experiment to assess which of two teams is superior and examine the probability that the outcome of the experiment (match) truly represents the relative abilities of the two teams. Given a final score, it is possible by using a Bayesian approach to quantify the probability that it was or was not the case that ‘the best team won’. For typical scores, the probability of a misleading result is significant. Modifying the rules of the game to increase the typical number of goals scored would improve the situation, but a level of confidence that would normally be regarded as satisfactory could not be obtained unless the character of the game was radically changed.     

Fuzzy控制在焊缝自动跟踪过程中的应用

本文阐述了模糊控制在机器人焊接焊缝自动跟踪过程中的具体应用，以ＣＯ２焊接为例对其短路过渡过程及跟踪过程响应特点进行了分析，提出了Ｆｕｚｚｙ控制方案，通过实验确定了机器人焊接焊缝自动跟踪的Ｆｕｚｚｙｙ控制器。